Rover: 4.1.0 issues list

[rmackay9]

This is a list of known issues especially blockers for the 4.1.0 rover release. The equivalent Copter issue is https://github.com/ArduPilot/ardupilot/issues/16478

Issues requiring investigation:

• [x] BalanceBot broken in Acro mode? (discussion) -- fixed in Rover-4.2.0-beta3
• [ ] Kenny Trussell suggestions for GPS-for-yaw config improvements (discussion)
  • [ ] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 (discussion)
  • [ ] GPS-for-yaw at 5hz leads to more GPS unhealthy messages (discussion)
  • [ ] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config (discussion)
• [ ] another Matek H7 imu reset internal error report (discussion)
• [ ] Lost accel calibration parameters (discussion)
• [ ] Rover avoidance of fence OK? (discussion)
• [ ] PRX missing from 1MB boards for Rover although it probably would fit (discussion), simple avoidance not working with TFLuna? (discussion)
• [x] Speed controller I-term build-up when motors are saturated (discussion) -- fixed in Rover-4.2.0-beta1
• [ ] PreArm: Internal errors 0x8000 l:428 main_loop_stk (discussion)

Existing 4.0 issues

• [ ] MP's Frame Type screen shows copter values (discussion, issue)

Resolved issues:

• [x] MIS_DONE_BEHAVE not working (discussion) -- misunderstanding / confusion over Loiter and Hold options which are implemented from within Auto and Acro and Manual options that do cause a real change in flight mode.
• [x] Nick Nunno's report of EKF attitude going bad and position jumping (issue) -- can't reproduce. probably resolved for beta6
• [x] EKF yaw not recovering if GPS-for-yaw lost (issue) -- resolved for beta7 (we think)
• [x] GPS-for-yaw at 5hz leads to more GPS unhealthy messages (discussion) -- resolved for beta7 (we think)
• [x] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 (discussion) -- resolved for beta7 (we think)
• [x] ArduSimple F9 GPS does not work with GPS-for-yaw unless GPSs directly connected (discussion) -- resolved for beta7 (we think)
• [x] Kenny Trussell suggestions for GPS-for-yaw config improvements when GPSs directly connected (discussion) -- resolved for beta7 (we think)
• [x] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config (discussion) -- resolved for beta7 (we think)
• [x] GPS_POS_X/Y/Z relative to IMU or COG? (discussion, PR) -- resolved for -beta7
• [x] EKF issues mentioned on the Copter-4.1 issue https://github.com/ArduPilot/ardupilot/issues/16478 -- resolved for beta6
• [x] Rovers cannot backup in Acro when simple avoidance is active (issue, PR)
• [x] Pre-arm check "DCM Roll/Pitch inconsistent by 32 deg" when using GPS-For-Yaw (see code here, PR). Reported by @tatsuy. Note: the issue may be that body-frame roll and pitch are not actually being compared. -- should be fixed in beta4
• [x] THR logging shows lateral acceleration (issue, PR) -- included in beta4
• [x] Waypoint delay of -1 leads to 65k of delay (discussion, issue) -- included in beta4
• [x] DShot not working with -beta3 (discussion, PR) -- included in beta4
• [x] Fence Radius are being truncated to integers (discussion, PR) -- included in beta4
• [x] QGC with gamepad doesn't work (discussion) -- QGC issue
• [x] Twitching at waypoints if WP_RADIUS set to 0.05m (issue https://github.com/ArduPilot/ardupilot/issues/17417, PR https://github.com/ArduPilot/ardupilot/pull/17494) -- fixed in beta2
• [x] GPS-for-yaw wiki params incorrect (wiki issue)
• [x] RFND messages missing (see issue: https://github.com/ArduPilot/ardupilot/issues/17334, PR) -- fixed in beta2
• [x] AP_Button's use of aux functions executes both high and low positions (reported by RobertoN) -- may be changed as part of a future enhancement
• [x] Rover param meta data for Fence includes Altitude (issue https://github.com/ArduPilot/ardupilot/issues/17207)

[yuri-rage]

I connected uCenter today and used Tools->Receiver Configuration->GNSS->File to save these four configuration files.

They are labeled accordingly with the GPS_AUTO_CONFIG parameter value in the filenames. A diff of the moving base (MB) files and Rover files reveals no obvious answers - they are identical.

However, as I was downloading them with the flight controller active and telemetry connected, I had no 'Unhealthy GPS Signal' warnings when GPS_AUTO_CONFIG was enabled. When I rebooted with it disabled, the 'Unhealthy GPS Signal' warnings were present even after full EKF3 alignment and a good GPS yaw solution. Without rebooting, I enabled GPS_AUTO_CONFIG, and the message instantaneously disappeared.

UBX_F9P_Auto=1_MB.txt UBX_F9P_Auto=1_Rover.txt UBX_F9P_Auto=0_MB.txt UBX_F9P_Auto=0_Rover.txt

[NickNunno]

@rmackay9 has anyone validated whether "Speed controller I-term build-up when motors are saturated" is a legit bug?

[geofrancis]

the DSHOT reverse range is inverted issue is only on 4.2, it works on 4.1